00001 /* 00002 ActivMedia Robotics Interface for Applications (ARIA) 00003 Copyright (C) 2004,2005 ActivMedia Robotics, LLC 00004 00005 00006 This program is free software; you can redistribute it and/or modify 00007 it under the terms of the GNU General Public License as published by 00008 the Free Software Foundation; either version 2 of the License, or 00009 (at your option) any later version. 00010 00011 This program is distributed in the hope that it will be useful, 00012 but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 GNU General Public License for more details. 00015 00016 You should have received a copy of the GNU General Public License 00017 along with this program; if not, write to the Free Software 00018 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 00020 If you wish to redistribute ARIA under different terms, contact 00021 ActivMedia Robotics for information about a commercial version of ARIA at 00022 robots@activmedia.com or 00023 ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481 00024 00025 */ 00026 00027 #ifndef ARACTIONBACKWARDSSPEEDLIMITER_H 00028 #define ARACTIONBACKWARDSSPEEDLIMITER_H 00029 00030 #include "ariaTypedefs.h" 00031 #include "ArAction.h" 00032 00034 00040 class ArActionLimiterBackwards : public ArAction 00041 { 00042 public: 00044 ArActionLimiterBackwards(const char *name = "speed limiter", 00045 double stopDistance = -250, 00046 double slowDistance = -600, 00047 double maxBackwardsSpeed = -250, 00048 double widthRatio = 1.5); 00050 virtual ~ArActionLimiterBackwards(); 00051 virtual ArActionDesired *fire(ArActionDesired currentDesired); 00052 virtual ArActionDesired *getDesired(void) { return &myDesired; } 00053 protected: 00054 double myStopDist; 00055 double mySlowDist; 00056 double myMaxBackwardsSpeed; 00057 double myWidthRatio; 00058 ArActionDesired myDesired; 00059 }; 00060 00061 #endif // ARACTIONBACKWARDSSPEEDLIMITER_H 00062
1.4.0